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<div class="title">keypoint.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KEYPOINT_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KEYPOINT_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;boost/bind.hpp&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">class </span>Keypoint : <span class="keyword">public</span> PCLBase&lt;PointInT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;Keypoint&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const Keypoint&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> PCLBase&lt;PointInT&gt; BaseClass;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointInT&gt;</a> KdTree;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointInT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> PointCloudIn;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> PointCloudOut;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;int (<span class="keywordtype">int</span>, <span class="keywordtype">double</span>, std::vector&lt;int&gt; &amp;, std::vector&lt;float&gt; &amp;)&gt; SearchMethod;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;int (<span class="keyword">const</span> PointCloudIn &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span>, std::vector&lt;int&gt; &amp;, std::vector&lt;float&gt; &amp;)&gt; SearchMethodSurface;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">   76</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">Keypoint</a> () : </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html">BaseClass</a> (), </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> (),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a> (),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a> (),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a> (), </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a> (), </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a> (0), </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> (0), </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a> (0) </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {};</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">   89</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">~Keypoint</a> () {}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud) { <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a> = cloud; }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> PointCloudInConstPtr</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">getSearchSurface</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a>); }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree) { <a class="code" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a> = tree; }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">inline</span> KdTreePtr</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">getSearchMethod</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a>); }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">getSearchParameter</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a>); }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">setKSearch</a> (<span class="keywordtype">int</span> k) { <a class="code" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a> = k; }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">getKSearch</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a>); }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = radius; }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">getRadiusSearch</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a>); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      pcl::PointIndicesConstPtr</div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">getKeypointsIndices</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a>); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">double</span> parameter, std::vector&lt;int&gt; &amp;indices, std::vector&lt;float&gt; &amp;distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a> == <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)       <span class="comment">// if the two surfaces are the same</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a> (index, parameter, indices, distances));</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, index, parameter, indices, distances));</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">  173</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">  176</a></span>&#160;      SearchMethod <a class="code" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">  179</a></span>&#160;      SearchMethodSurface <a class="code" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">  182</a></span>&#160;      PointCloudInConstPtr <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">  185</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">  188</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">  191</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">  194</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">  197</a></span>&#160;      pcl::PointIndicesPtr <a class="code" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>); }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">  205</a></span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">detectKeypoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) = 0;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  };</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/keypoint.hpp&gt;</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_KEYPOINT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a046a7cd11598b06d2076da69a3100e4b"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">pcl::Keypoint::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using t...</div><div class="ttdef"><b>Definition:</b> keypoint.hpp:124</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a06d5bf39feac19b1d5dfa0a3e87caea9"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">pcl::Keypoint::Keypoint</a></div><div class="ttdeci">Keypoint()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> keypoint.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a153d731738fd5966e169e26b61013689"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">pcl::Keypoint::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> keypoint.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a1998c46514f3f8d8d7665f6b505ca389"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">pcl::Keypoint::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3bf7980bf7404eb9b5571afbbc2001f5"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">pcl::Keypoint::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3ead3b82282115d4b7e400daee213c2d"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">pcl::Keypoint::getKeypointsIndices</a></div><div class="ttdeci">pcl::PointIndicesConstPtr getKeypointsIndices()</div><div class="ttdef"><b>Definition:</b> keypoint.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a4de1c1a1545be786c12ec36fea4008df"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">pcl::Keypoint::setKSearch</a></div><div class="ttdeci">void setKSearch(int k)</div><div class="ttdoc">Set the number of k nearest neighbors to use for the feature estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a578368dcf8cacc6770aa5f7e7a306def"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">pcl::Keypoint::search_parameter_</a></div><div class="ttdeci">double search_parameter_</div><div class="ttdoc">The actual search parameter (casted from either search_radius_ or k_).</div><div class="ttdef"><b>Definition:</b> keypoint.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a642e18edc66cffd15266bf9e7bf20bec"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">pcl::Keypoint::search_method_surface_</a></div><div class="ttdeci">SearchMethodSurface search_method_surface_</div><div class="ttdoc">The search method template for points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a93359dca5b099e843c3cf0d0db1c59e1"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">pcl::Keypoint::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9a337c89ee7ce0816b8a677b5d538592"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">pcl::Keypoint::getKSearch</a></div><div class="ttdeci">int getKSearch()</div><div class="ttdoc">get the number of k nearest neighbors used for the feature estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9b6fb2953dc9be88c74d95c8446937bb"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">pcl::Keypoint::getRadiusSearch</a></div><div class="ttdeci">double getRadiusSearch()</div><div class="ttdoc">Get the sphere radius used for determining the neighbors.</div><div class="ttdef"><b>Definition:</b> keypoint.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9bca452f3813c88d994dba18d4a7a1c8"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">pcl::Keypoint::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> keypoint.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9c5fa8a8d95367a21111efe0b197a3c9"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">pcl::Keypoint::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod()</div><div class="ttdoc">Get a pointer to the search method used.</div><div class="ttdef"><b>Definition:</b> keypoint.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a9dbce2da2ea97dcb4f5635df33a129c9"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">pcl::Keypoint::setSearchSurface</a></div><div class="ttdeci">virtual void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset that we need to estimate features at every point for.</div><div class="ttdef"><b>Definition:</b> keypoint.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aa2ee2830db93620925b82bf6b8ffea63"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">pcl::Keypoint::search_method_</a></div><div class="ttdeci">SearchMethod search_method_</div><div class="ttdoc">The search method template for indices.</div><div class="ttdef"><b>Definition:</b> keypoint.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aa327f241d246cec23ca531261f60da3f"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">pcl::Keypoint::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</div><div class="ttdoc">Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...</div><div class="ttdef"><b>Definition:</b> keypoint.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aa7b3aa0078d09857ed7afbee6b00e07b"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">pcl::Keypoint::getSearchSurface</a></div><div class="ttdeci">PointCloudInConstPtr getSearchSurface()</div><div class="ttdoc">Get a pointer to the surface point cloud dataset.</div><div class="ttdef"><b>Definition:</b> keypoint.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_abbe80461ac9e3bb7e355b4608d0b4674"><div class="ttname"><a href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">pcl::Keypoint::detectKeypoints</a></div><div class="ttdeci">virtual void detectKeypoints(PointCloudOut &amp;output)=0</div><div class="ttdoc">Abstract key point detection method.</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_abc3023e139444291b4d155553369b0bd"><div class="ttname"><a href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">pcl::Keypoint::~Keypoint</a></div><div class="ttdeci">virtual ~Keypoint()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> keypoint.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_abe8df9e1d66f449bc478cc06f062f209"><div class="ttname"><a href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">pcl::Keypoint::keypoints_indices_</a></div><div class="ttdeci">pcl::PointIndicesPtr keypoints_indices_</div><div class="ttdoc">Indices of the keypoints in the input cloud.</div><div class="ttdef"><b>Definition:</b> keypoint.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_acb901dd8879ee9a34b3a87d1cb6d6a37"><div class="ttname"><a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">pcl::Keypoint::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...</div><div class="ttdef"><b>Definition:</b> keypoint.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_addd331bafa986670ef416554728bd6a4"><div class="ttname"><a href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">pcl::Keypoint::getSearchParameter</a></div><div class="ttdeci">double getSearchParameter()</div><div class="ttdoc">Get the internal search parameter.</div><div class="ttdef"><b>Definition:</b> keypoint.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_af2dd9244731bfd903ce4aa73efb996eb"><div class="ttname"><a href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">pcl::Keypoint::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> keypoint.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
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